load_generator/ros2/plugins/org.eclipse.app4mc.slg.ros2/src/org/eclipse/app4mc/slg/ros2/generators/RosInterProcessTriggerUtilsTranslationUnit.java

/**
 * Copyright (c) 2020-2021 Robert Bosch GmbH.
 * 
 * This program and the accompanying materials are made
 * available under the terms of the Eclipse Public License 2.0
 * which is available at https://www.eclipse.org/legal/epl-2.0/
 * 
 * SPDX-License-Identifier: EPL-2.0
 * 
 * Contributors:
 *     Robert Bosch GmbH - initial API and implementation
 */

package org.eclipse.app4mc.slg.ros2.generators;

import org.eclipse.app4mc.amalthea.model.InterProcessTrigger;
import org.eclipse.app4mc.slg.commons.m2t.generators.TranslationUnit;
import org.eclipse.app4mc.slg.ros2.transformers.utils.Utils;
import org.eclipse.app4mc.transformation.util.OutputBuffer;
import org.eclipse.xtend2.lib.StringConcatenation;

public class RosInterProcessTriggerUtilsTranslationUnit extends TranslationUnit {
  private InterProcessTrigger ip;
private OutputBuffer outputBuffer;
  
  public RosInterProcessTriggerUtilsTranslationUnit(final OutputBuffer outputBuffer, final InterProcessTrigger ip) {
    super();
    this.ip = ip;
    this.outputBuffer = outputBuffer;
    this.genFiles();
  }
  
  public static String getModulePathStatic() {
    String _basePathStatic = "synthetic_gen";
    String _moduleNameStatic = RosInterProcessTriggerUtilsTranslationUnit.getModuleNameStatic();
    return _basePathStatic + "/" + _moduleNameStatic;
  }
  
  public static String getMakeFilePathStatic() {
    String _modulePathStatic = RosInterProcessTriggerUtilsTranslationUnit.getModulePathStatic();
    String _makeFileName = "CMakeLists.txt";
    return _modulePathStatic + "/" + _makeFileName;
  }
  
  public static String getModuleNameStatic() {
    return "interProcessTriggerUtils";
  }
  
  public static String getLibName() {
    return "INTERPROCESSTRIGGER_UTIL";
  }
  
  public String getModuleName() {
    return RosInterProcessTriggerUtilsTranslationUnit.getModuleNameStatic();
  }
  
  public String getIncFile() {
    return this.getModuleName() + ".h";
  }
  
  public String getExecCall(final String param) {
    StringConcatenation _builder = new StringConcatenation();
    _builder.append("call_service_");
    _builder.append(param);
    _builder.append("(");
    _builder.append(param);
    _builder.append("_client)");
    return _builder.toString();
  }
  
  public boolean genFiles() {
    boolean _xblockexpression = false;
    {
      boolean _isSrcFileEmpty = this.isSrcFileEmpty();
      if (_isSrcFileEmpty) {
        this.incAppend(this.toHeader().toString());
      }
      boolean _isSrcFileEmpty_1 = this.isSrcFileEmpty();
      if (_isSrcFileEmpty_1) {
        this.srcAppend(this.toCPPHead().toString());
      }
      this.incAppend(this.toH().toString());
      _xblockexpression = this.srcAppend(this.toCPP().toString());
    }
    return _xblockexpression;
  }
  
  public CharSequence toCPPHead() {
    StringConcatenation _builder = new StringConcatenation();
    _builder.append("#include \"interProcessTriggerUtils.h\"");
    _builder.newLine();
    _builder.newLine();
    _builder.append("using namespace std::chrono_literals;");
    _builder.newLine();
    return _builder;
  }
  
  public CharSequence toHeader() {
    StringConcatenation _builder = new StringConcatenation();
    _builder.append("#include <string>");
    _builder.newLine();
    _builder.newLine();
    _builder.append("#include \"rclcpp/rclcpp.hpp\"");
    _builder.newLine();
    _builder.append("#include \"std_msgs/msg/string.hpp\"");
    _builder.newLine();
    _builder.newLine();
    return _builder;
  }
  
  public CharSequence toCPP() {
    StringConcatenation _builder = new StringConcatenation();
    _builder.newLine();
    _builder.append("void call_service_");
    String _name = this.ip.getStimulus().getName();
    _builder.append(_name);
    _builder.append("(rclcpp::Client<");
    String _name_1 = this.ip.getStimulus().getName();
    _builder.append(_name_1);
    _builder.append("_service::srv::");
    String _name_2 = this.ip.getStimulus().getName();
    String _plus = (_name_2 + "_service");
    String _idlCompliantName = Utils.toIdlCompliantName(_plus);
    _builder.append(_idlCompliantName);
    _builder.append(">::SharedPtr& client) {");
    _builder.newLineIfNotEmpty();
    _builder.append("\t");
    _builder.newLine();
    _builder.append("\t");
    _builder.append("auto request = std::make_shared<");
    String _name_3 = this.ip.getStimulus().getName();
    _builder.append(_name_3, "\t");
    _builder.append("_service::srv::");
    String _name_4 = this.ip.getStimulus().getName();
    String _plus_1 = (_name_4 + "_service");
    String _idlCompliantName_1 = Utils.toIdlCompliantName(_plus_1);
    _builder.append(_idlCompliantName_1, "\t");
    _builder.append("::Request>();");
    _builder.newLineIfNotEmpty();
    _builder.append("\t");
    _builder.newLine();
    _builder.append("\t  ");
    _builder.append("while (!client->wait_for_service(50ms)) {");
    _builder.newLine();
    _builder.append("\t    ");
    _builder.append("if (!rclcpp::ok()) {");
    _builder.newLine();
    _builder.append("\t      ");
    _builder.append("RCLCPP_ERROR(rclcpp::get_logger(\"rclcpp\"), \"Interrupted while waiting for the service. Exiting.\");");
    _builder.newLine();
    _builder.append("\t      ");
    _builder.append("exit;");
    _builder.newLine();
    _builder.append("\t    ");
    _builder.append("}");
    _builder.newLine();
    _builder.append("\t    ");
    _builder.append("RCLCPP_INFO(rclcpp::get_logger(\"rclcpp\"), \"service not available, waiting again...\");");
    _builder.newLine();
    _builder.append("\t  ");
    _builder.append("}");
    _builder.newLine();
    _builder.append("\t");
    _builder.append("auto result = client->async_send_request(request);\t");
    _builder.newLine();
    _builder.append("}");
    _builder.newLine();
    return _builder;
  }
  
  public CharSequence toH() {
    StringConcatenation _builder = new StringConcatenation();
    _builder.append("#include \"");
    String _name = this.ip.getStimulus().getName();
    _builder.append(_name);
    _builder.append("_service/srv/");
    String _name_1 = this.ip.getStimulus().getName();
    _builder.append(_name_1);
    _builder.append("_service.hpp\"");
    _builder.newLineIfNotEmpty();
    _builder.append("void call_service_");
    String _name_2 = this.ip.getStimulus().getName();
    _builder.append(_name_2);
    _builder.append("(rclcpp::Client<");
    String _name_3 = this.ip.getStimulus().getName();
    _builder.append(_name_3);
    _builder.append("_service::srv::");
    String _name_4 = this.ip.getStimulus().getName();
    String _plus = (_name_4 + "_service");
    String _idlCompliantName = Utils.toIdlCompliantName(_plus);
    _builder.append(_idlCompliantName);
    _builder.append(">::SharedPtr& client);");
    _builder.newLineIfNotEmpty();
    _builder.newLine();
    return _builder;
  }

public String getBasePath() {
    return "synthetic_gen";
  }

public String getModulePath() {
    String _basePath = this.getBasePath();
    String _plus = (_basePath + "/");
    String _moduleName = this.getModuleName();
    return (_plus + _moduleName);
  }

@Override
public String getSrcFile() {
    String _moduleName = this.getModuleName();
    return (_moduleName + ".cpp");
  }

public String getIncPath() {
    String _modulePath = this.getModulePath();
    String _plus = (_modulePath + "/_inc/");
    String _incFile = this.getIncFile();
    return (_plus + _incFile);
  }

public String getSrcPath() {
    String _modulePath = this.getModulePath();
    String _plus = (_modulePath + "/_src/");
    String _srcFile = this.getSrcFile();
    return (_plus + _srcFile);
  }

public boolean isIncFileEmpty() {
    String _modulePath = this.getModulePath();
    String _plus = (_modulePath + "/_inc/");
    String _moduleName = this.getModuleName();
    String _plus_1 = (_plus + _moduleName);
    boolean _bufferExists = this.outputBuffer.bufferExists("H", _plus_1);
    return (!_bufferExists);
  }

public boolean isSrcFileEmpty() {
    String _modulePath = this.getModulePath();
    String _plus = (_modulePath + "/_src/");
    String _moduleName = this.getModuleName();
    String _plus_1 = (_plus + _moduleName);
    boolean _bufferExists = this.outputBuffer.bufferExists("C", _plus_1);
    return (!_bufferExists);
  }

public boolean incAppend(final String str) {
    String _modulePath = this.getModulePath();
    String _plus = (_modulePath + "/_inc/");
    String _moduleName = this.getModuleName();
    String _plus_1 = (_plus + _moduleName);
    return this.outputBuffer.appendTo("H", _plus_1, str);
  }

public boolean srcAppend(final String str) {
    String _modulePath = this.getModulePath();
    String _plus = (_modulePath + "/_src/");
    String _moduleName = this.getModuleName();
    String _plus_1 = (_plus + _moduleName);
    return this.outputBuffer.appendTo("C", _plus_1, str);
  }
}